//betauser public extern static void dMassAdd( ref dMass a, ref dMass b );
public extern static void dMassRotate( ref dMass mass, dReal[] R );
public extern static void dMassRotate( ref dMass mass, ref dMatrix3 R );
public extern static void dMassAdjust( ref dMass mass, dReal newmass );
public extern static void dMassTranslate( ref dMass mass, dReal x, dReal y, dReal z );
public extern static void dMassSetBox( ref dMass mass, dReal density, dReal lx, dReal ly, dReal lz );
public extern static void dMassSetBoxTotal( ref dMass mass, dReal total_mass, dReal lx, dReal ly, dReal lz );
public extern static void dMassSetCylinder( ref dMass mass, dReal density, int direction, dReal radius, dReal length );
public extern static void dMassSetCylinderTotal( ref dMass mass, dReal total_mass, int direction, dReal radius, dReal length );
public extern static void dMassSetSphere( ref dMass mass, dReal density, dReal radius );
public extern static void dMassSetSphereTotal( ref dMass mass, dReal total_mass, dReal radius );
public extern static void dMassSetParameters( ref dMass mass, dReal themass, dReal cgx, dReal cgy, dReal cgz, dReal I11, dReal I22, dReal I33, dReal I12, dReal I13, dReal I23 );
public extern static void dMassSetZero( ref dMass mass );
public extern static void dBodyGetMass( dBodyID body, ref dMass mass );
public static extern void dMassSetTrimesh(out dMass mass, dReal density, dGeomID g);
/// <summary> /// Given mass parameters for some object, adjust them to represent the object rotated by R relative to the body frame. /// </summary> /// <param name="mass">A dMass</param> /// <param name="R">A dMatrix3</param> public static void dMassRotate(ref dMass mass, dMatrix3 R) { // for compatibility dMassRotate(ref mass, R.ToArray()); }